Firmware2/Marlin/src/gcode/feature/camera/M240.cpp

/**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#include "../../../inc/MarlinConfig.h"

#if ENABLED(PHOTO_GCODE)

#include "../../gcode.h"
#include "../../../module/motion.h" // for active_extruder and current_position

#if PIN_EXISTS(CHDK)
  millis_t chdk_timeout; // = 0
#endif

#ifdef PHOTO_RETRACT_MM

  #define _PHOTO_RETRACT_MM (PHOTO_RETRACT_MM + 0)

  #include "../../../module/planner.h"
  #include "../../../module/temperature.h"

  #if ENABLED(ADVANCED_PAUSE_FEATURE)
    #include "../../../feature/pause.h"
  #endif

  #ifdef PHOTO_RETRACT_MM
    inline void e_move_m240(const float length, const float fr_mm_s) {
      if (length && thermalManager.hotEnoughToExtrude(active_extruder)) {
        #if ENABLED(ADVANCED_PAUSE_FEATURE)
          do_pause_e_move(length, fr_mm_s);
        #else
          current_position[E_AXIS] += length / planner.e_factor[active_extruder];
          planner.buffer_line(current_position, fr_mm_s, active_extruder);
        #endif
      }
    }
  #endif

#endif

#if PIN_EXISTS(PHOTOGRAPH)
  constexpr uint8_t NUM_PULSES = 16;
  constexpr float PULSE_LENGTH = 0.01524;
  inline void set_photo_pin(const uint8_t state) { WRITE(PHOTOGRAPH_PIN, state); _delay_ms(PULSE_LENGTH); }
  inline void tweak_photo_pin() { set_photo_pin(HIGH); set_photo_pin(LOW); }
  inline void spin_photo_pin() { for (uint8_t i = NUM_PULSES; i--;) tweak_photo_pin(); }
#endif

/**
 * M240: Trigger a camera by...
 *
 *  - CHDK                  : Emulate a Canon RC-1 with a configurable ON duration.
 *                            http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 *  - PHOTOGRAPH_PIN        : Pulse a digital pin 16 times.
 *                            See http://www.doc-diy.net/photo/rc-1_hacked/
 *  - PHOTO_SWITCH_POSITION : Bump a physical switch with the X-carriage using a
 *                            configured position, delay, and retract length.
 *
 * PHOTO_POSITION parameters:
 *    A - X offset to the return position
 *    B - Y offset to the return position
 *    F - Override the XY movement feedrate
 *    R - Retract/recover length (current units)
 *    S - Retract/recover feedrate (mm/m)
 *    X - Move to X before triggering the shutter
 *    Y - Move to Y before triggering the shutter
 *    Z - Raise Z by a distance before triggering the shutter
 *
 * PHOTO_SWITCH_POSITION parameters:
 *    D - Duration (ms) to hold down switch (Requires PHOTO_SWITCH_MS)
 *    P - Delay (ms) after triggering the shutter (Requires PHOTO_SWITCH_MS)
 *    I - Switch trigger position override X
 *    J - Switch trigger position override Y
 */
void GcodeSuite::M240() {

  #ifdef PHOTO_POSITION

    if (axis_unhomed_error()) return;

    const float old_pos[XYZ] = {
      current_position[X_AXIS] + parser.linearval('A'),
      current_position[Y_AXIS] + parser.linearval('B'),
      current_position[Z_AXIS]
    };

    #ifdef PHOTO_RETRACT_MM
      constexpr float rfr = (MMS_TO_MMM(
        #if ENABLED(ADVANCED_PAUSE_FEATURE)
          PAUSE_PARK_RETRACT_FEEDRATE
        #elif ENABLED(FWRETRACT)
          RETRACT_FEEDRATE
        #else
          45
        #endif
      ));
      const float rval = parser.seenval('R') ? parser.value_linear_units() : _PHOTO_RETRACT_MM,
                  sval = parser.seenval('S') ? MMM_TO_MMS(parser.value_feedrate()) : rfr;
      e_move_m240(-rval, sval);
    #endif

    float fr_mm_s = MMM_TO_MMS(parser.linearval('F'));
    if (fr_mm_s) NOLESS(fr_mm_s, 10.0f);

    constexpr float photo_position[XYZ] = PHOTO_POSITION;
    float raw[XYZ] = {
       parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : photo_position[X_AXIS],
       parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_position[Y_AXIS],
      (parser.seenval('Z') ? parser.value_linear_units() : photo_position[Z_AXIS]) + current_position[Z_AXIS]
    };
    apply_motion_limits(raw);
    do_blocking_move_to(raw, fr_mm_s);

    #ifdef PHOTO_SWITCH_POSITION
      constexpr float photo_switch_position[2] = PHOTO_SWITCH_POSITION;
      const float sraw[] = {
         parser.seenval('I') ? RAW_X_POSITION(parser.value_linear_units()) : photo_switch_position[X_AXIS],
         parser.seenval('J') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_switch_position[Y_AXIS]
      };
      do_blocking_move_to_xy(sraw[X_AXIS], sraw[Y_AXIS], get_homing_bump_feedrate(X_AXIS));
      #if PHOTO_SWITCH_MS > 0
        safe_delay(parser.intval('D', PHOTO_SWITCH_MS));
      #endif
      do_blocking_move_to(raw);
    #endif

  #endif

  #if PIN_EXISTS(CHDK)

    OUT_WRITE(CHDK_PIN, HIGH);
    chdk_timeout = millis() + PHOTO_SWITCH_MS;

  #elif HAS_PHOTOGRAPH

    spin_photo_pin();
    delay(7.33);
    spin_photo_pin();

  #endif

  #ifdef PHOTO_POSITION
    #if PHOTO_DELAY_MS > 0
      safe_delay(parser.intval('P', PHOTO_DELAY_MS));
    #endif
    do_blocking_move_to(old_pos, fr_mm_s);
    #ifdef PHOTO_RETRACT_MM
      e_move_m240(rval, sval);
    #endif
  #endif
}

#endif // PHOTO_GCODE